Ionic polymer-metal composite (IPMC) actuators with sectored (patterned) electrodes have been fabricated for realizing bending and twisting motion. Such IPMCs can be used to create next-generation artificial fish-like propulsors that can mimic the undulatory, flapping, and complex motions of real fish fins. Herein, a thorough experimental study is performed on sectored IPMCs to characterize their performance. Specifically, results are presented to show (1) the achievable twisting response; (2) blocking force and torque; (3) power consumption and effectiveness; and (4) propulsion characteristics. The results can be utilized to guide the design of practical marine systems driven by IPMC propulsors. The design of an example underwater robotic system is also described which employs the IPMC actuators, and the performance of the robotic system is reported.
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ASME 2011 Conference on Smart Materials, Adaptive Structures and Intelligent Systems
September 18–21, 2011
Scottsdale, Arizona, USA
Conference Sponsors:
- Aerospace Division
ISBN:
978-0-7918-5471-6
PROCEEDINGS PAPER
Characterization of Sectored-Electrode IPMC-Based Propulsors for Underwater Locomotion Available to Purchase
Joel J. Hubbard,
Joel J. Hubbard
University of Nevada–Reno, Reno, NV
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Maxwell Fleming,
Maxwell Fleming
University of Nevada–Reno, Reno, NV
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Kam K. Leang,
Kam K. Leang
University of Nevada–Reno, Reno, NV
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Viljar Palmre,
Viljar Palmre
University of Nevada–Reno, Reno, NV
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David Pugal,
David Pugal
University of Nevada–Reno, Reno, NV
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Kwang J. Kim
Kwang J. Kim
University of Nevada–Reno, Reno, NV
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Joel J. Hubbard
University of Nevada–Reno, Reno, NV
Maxwell Fleming
University of Nevada–Reno, Reno, NV
Kam K. Leang
University of Nevada–Reno, Reno, NV
Viljar Palmre
University of Nevada–Reno, Reno, NV
David Pugal
University of Nevada–Reno, Reno, NV
Kwang J. Kim
University of Nevada–Reno, Reno, NV
Paper No:
SMASIS2011-5155, pp. 171-180; 10 pages
Published Online:
February 7, 2012
Citation
Hubbard, JJ, Fleming, M, Leang, KK, Palmre, V, Pugal, D, & Kim, KJ. "Characterization of Sectored-Electrode IPMC-Based Propulsors for Underwater Locomotion." Proceedings of the ASME 2011 Conference on Smart Materials, Adaptive Structures and Intelligent Systems. ASME 2011 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, Volume 1. Scottsdale, Arizona, USA. September 18–21, 2011. pp. 171-180. ASME. https://doi.org/10.1115/SMASIS2011-5155
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